diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index a59a5d9ac224e..c9eb36def90b8 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -113,7 +113,7 @@ perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp s
 perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp
-perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
 perception/detected_object_feature_remover/** tomoya.kimura@tier4.jp
 perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index fba0144e6cee1..7dc697f0e8532 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -158,7 +158,7 @@
 
     <!-- simple_cluster_merger -->
     <group>
-      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
+      <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
         <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
         <arg name="input/cluster1" value="roi_cluster/clusters"/>
         <arg name="output/clusters" value="clusters"/>
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 349472ed5f8d3..69d28f8577358 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_cluster_merger</exec_depend>
   <exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>autoware_object_range_splitter</exec_depend>
@@ -21,7 +22,6 @@
   <exec_depend>autoware_radar_fusion_to_detected_object</exec_depend>
   <exec_depend>autoware_radar_object_clustering</exec_depend>
   <exec_depend>autoware_radar_object_tracker</exec_depend>
-  <exec_depend>cluster_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>detected_object_feature_remover</exec_depend>
   <exec_depend>detected_object_validation</exec_depend>
diff --git a/perception/cluster_merger/CMakeLists.txt b/perception/autoware_cluster_merger/CMakeLists.txt
similarity index 94%
rename from perception/cluster_merger/CMakeLists.txt
rename to perception/autoware_cluster_merger/CMakeLists.txt
index 773cea6383f41..ce666be317d6c 100644
--- a/perception/cluster_merger/CMakeLists.txt
+++ b/perception/autoware_cluster_merger/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(cluster_merger)
+project(autoware_cluster_merger)
 
 # find dependencies
 find_package(autoware_cmake REQUIRED)
diff --git a/perception/cluster_merger/README.md b/perception/autoware_cluster_merger/README.md
similarity index 94%
rename from perception/cluster_merger/README.md
rename to perception/autoware_cluster_merger/README.md
index 6b719a1e5a480..771e6eb0342f0 100644
--- a/perception/cluster_merger/README.md
+++ b/perception/autoware_cluster_merger/README.md
@@ -1,8 +1,8 @@
-# cluster merger
+# autoware cluster merger
 
 ## Purpose
 
-cluster_merger is a package for merging pointcloud clusters as detected objects with feature type.
+autoware_cluster_merger is a package for merging pointcloud clusters as detected objects with feature type.
 
 ## Inner-working / Algorithms
 
diff --git a/perception/cluster_merger/config/cluster_merger.param.yaml b/perception/autoware_cluster_merger/config/cluster_merger.param.yaml
similarity index 100%
rename from perception/cluster_merger/config/cluster_merger.param.yaml
rename to perception/autoware_cluster_merger/config/cluster_merger.param.yaml
diff --git a/perception/cluster_merger/launch/cluster_merger.launch.xml b/perception/autoware_cluster_merger/launch/cluster_merger.launch.xml
similarity index 67%
rename from perception/cluster_merger/launch/cluster_merger.launch.xml
rename to perception/autoware_cluster_merger/launch/cluster_merger.launch.xml
index f0f90efe051a0..40bdf643fbecf 100644
--- a/perception/cluster_merger/launch/cluster_merger.launch.xml
+++ b/perception/autoware_cluster_merger/launch/cluster_merger.launch.xml
@@ -3,9 +3,9 @@
   <arg name="output/clusters" default="output/clusters"/>
   <arg name="input/cluster0" default="input/cluster0"/>
   <arg name="input/cluster1" default="input/cluster1"/>
-  <arg name="param_path" default="$(find-pkg-share cluster_merger)/config/cluster_merger.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_cluster_merger)/config/cluster_merger.param.yaml"/>
   <!-- Node -->
-  <node pkg="cluster_merger" exec="cluster_merger_node" name="cluster_merger" output="screen">
+  <node pkg="autoware_cluster_merger" exec="cluster_merger_node" name="autoware_cluster_merger" output="screen">
     <remap from="~/output/clusters" to="$(var output/clusters)"/>
     <remap from="input/cluster0" to="$(var input/cluster0)"/>
     <remap from="input/cluster1" to="$(var input/cluster1)"/>
diff --git a/perception/cluster_merger/package.xml b/perception/autoware_cluster_merger/package.xml
similarity index 96%
rename from perception/cluster_merger/package.xml
rename to perception/autoware_cluster_merger/package.xml
index 17455dc27b6cc..41bcdb27b1387 100644
--- a/perception/cluster_merger/package.xml
+++ b/perception/autoware_cluster_merger/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>cluster_merger</name>
+  <name>autoware_cluster_merger</name>
   <version>0.1.0</version>
   <description>The ROS 2 cluster merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/cluster_merger/src/cluster_merger_node.cpp b/perception/autoware_cluster_merger/src/cluster_merger_node.cpp
similarity index 100%
rename from perception/cluster_merger/src/cluster_merger_node.cpp
rename to perception/autoware_cluster_merger/src/cluster_merger_node.cpp
diff --git a/perception/cluster_merger/src/cluster_merger_node.hpp b/perception/autoware_cluster_merger/src/cluster_merger_node.hpp
similarity index 100%
rename from perception/cluster_merger/src/cluster_merger_node.hpp
rename to perception/autoware_cluster_merger/src/cluster_merger_node.hpp